Robust Control of Holonomic Constrained Robotic Manipulators With Stochastic Time Delays

摘要：

In this paper, robust networked control is investigated for remote motion/force control of robotic manipulators with random time delays. Both sensor-to-controller and controller-to-actuator random network-induced delays are considered in the remote networked control. These random-network-induced delays are modeled as Markov processes. Based on the stochastic Lyapunov method, sufficient conditions for the boundedness in probability of the system solutions are given. It is proven that all the signals of the the robotic manipulator system are bounded in probability. Finally, the extensive experiments are performed to show the effectiveness of the proposed method.

关键词： Robust Control Robotic Manipulators Stochastic Time Delays

作者: Zhijun Li Yu Kang Xiaoqing Cao Dihua Zhai

作者单位: Department of Automation, Shanghai Jiao Tong University, Shanghai, China Department of Automation, University of Science and Technology of China, Hefei, China

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 2786-2791

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）